Equity Incentive Plans - Total Unrecognized Stock-Based Compensation Expense, Net of Estimated Forfeitures (Details) $ in Thousands	9 Months Ended
	Sep. 30, 2023 USD ($)
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Compensation Expense	$ 390
Average Remaining Vesting Period (Years)	4 months 24 days
Stock option grants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Compensation Expense	$ 19,087
Average Remaining Vesting Period (Years)	2 years 9 months 18 days
RSU grants
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Compensation Expense	$ 7,372
Average Remaining Vesting Period (Years)	2 years 10 months 24 days